REAL TIME GRASPING OF FREELY PLACED CYLINDRICAL OBJECTS

Mario Richtsfeld, Wolfgang Ponweiser, Markus Vincze

Abstract

In the near future, service robots will support people with different handicaps to improve the quality of their life. One of the required key technologies is to setup the grasping ability of the robot. This includes an autonomous object detection and grasp motion planning to fulfil the task of providing objects from any position on a table to the user. This paper presents a complete system, which consists of a fixed working station equipped with a laser-range scanner, a seven degrees of freedom arm manipulator and an arm prothesis as gripper. The contribution of this work is to use only one sensor system based on a laser-range scanning head to solve this challenge. The goal is that the user can select any defined object on the table and the robot arm delivers it to a target position or to the disabled person.

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Paper Citation


in Harvard Style

Richtsfeld M., Ponweiser W. and Vincze M. (2008). REAL TIME GRASPING OF FREELY PLACED CYLINDRICAL OBJECTS . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8111-31-9, pages 165-170. DOI: 10.5220/0001481101650170


in Bibtex Style

@conference{icinco08,
author={Mario Richtsfeld and Wolfgang Ponweiser and Markus Vincze},
title={REAL TIME GRASPING OF FREELY PLACED CYLINDRICAL OBJECTS},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2008},
pages={165-170},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001481101650170},
isbn={978-989-8111-31-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - REAL TIME GRASPING OF FREELY PLACED CYLINDRICAL OBJECTS
SN - 978-989-8111-31-9
AU - Richtsfeld M.
AU - Ponweiser W.
AU - Vincze M.
PY - 2008
SP - 165
EP - 170
DO - 10.5220/0001481101650170